Design of mechanisms of a robotic system for rehabilitation of the lower limbs

Abstract

The article describes the main stages of developing a robotic system for the rehabilitation of the lower limbs based on the “tripteron” robot. The structure of a robotic system has been designed, consisting of a 3-PRRR parallel mechanism, which provides the angles of rotation of all joints of the patient’s leg required for rehabilitation and a passive orthosis for supporting the limb. At the first stage, the positions of the active mechanism links are determined. The output link of only one kinematic chain, making a translational movement in the vertical direction, will experience a maximum load. A design diagram of this kinematic chain was built, and the reactions of the supports were determined at the second stage. At the third stage, kinematic dependences were obtained, and an engine was selected that would provide the required torque at the required speeds.